create and assign gomspace power fdir

2022-04-28 15:58:31 +02:00 · 2022-04-28 15:58:31 +02:00 · d0b7531e48
commit d0b7531e48
parent b97604d7d2
14 changed files with 185 additions and 22 deletions
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -1,5 +1,6 @@
 #include "ObjectFactory.h"

+#include <mission/system/fdir/GomspacePowerFdir.h>
 #include <mission/system/fdir/SyrlinksFdir.h>

 #include "OBSWConfig.h"
@ -247,14 +248,22 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
-  /* Device Handler */
+
+  auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
  P60DockHandler* p60dockhandler =
-      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
+      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
+
+  auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
  PDU1Handler* pdu1handler =
-      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
+      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
+
+  auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
  PDU2Handler* pdu2handler =
-      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
-  ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
+      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
+
+  auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
+  ACUHandler* acuhandler =
+      new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
  auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);

  /**
--- a/mission/devices/ACUHandler.cpp
+++ b/mission/devices/ACUHandler.cpp
@ -2,8 +2,9 @@

 #include "OBSWConfig.h"

-ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
+ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+                       FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, ACU::MAX_CONFIGTABLE_ADDRESS,
                            ACU::MAX_HKTABLE_ADDRESS, ACU::HK_TABLE_REPLY_SIZE),
      acuHkTableDataset(this) {}

--- a/mission/devices/ACUHandler.h
+++ b/mission/devices/ACUHandler.h
@ -12,7 +12,8 @@
 */
 class ACUHandler : public GomspaceDeviceHandler {
 public:
-  ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+             FailureIsolationBase* customFdir);
  virtual ~ACUHandler();

  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
--- a/mission/devices/GomspaceDeviceHandler.cpp
+++ b/mission/devices/GomspaceDeviceHandler.cpp
@ -7,9 +7,10 @@
 #include "devicedefinitions/powerDefinitions.h"

 GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
-                                             CookieIF* comCookie, uint16_t maxConfigTableAddress,
+                                             CookieIF* comCookie, FailureIsolationBase* customFdir,
+                                             uint16_t maxConfigTableAddress,
                                             uint16_t maxHkTableAddress, uint16_t hkTableReplySize)
-    : DeviceHandlerBase(objectId, comIF, comCookie),
+    : DeviceHandlerBase(objectId, comIF, comCookie, customFdir),
      maxConfigTableAddress(maxConfigTableAddress),
      maxHkTableAddress(maxHkTableAddress),
      hkTableReplySize(hkTableReplySize) {
--- a/mission/devices/GomspaceDeviceHandler.h
+++ b/mission/devices/GomspaceDeviceHandler.h
@ -38,8 +38,8 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
   * 							device.
   */
  GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-                        uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress,
-                        uint16_t hkTableReplySize);
+                        FailureIsolationBase *customFdir, uint16_t maxConfigTableAddress,
+                        uint16_t maxHkTableAddress, uint16_t hkTableReplySize);
  virtual ~GomspaceDeviceHandler();

  /**
--- a/mission/devices/P60DockHandler.cpp
+++ b/mission/devices/P60DockHandler.cpp
@ -4,9 +4,11 @@

 #include "OBSWConfig.h"

-P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS,
-                            P60Dock::MAX_HKTABLE_ADDRESS, P60Dock::HK_TABLE_REPLY_SIZE),
+P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+                               FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir,
+                            P60Dock::MAX_CONFIGTABLE_ADDRESS, P60Dock::MAX_HKTABLE_ADDRESS,
+                            P60Dock::HK_TABLE_REPLY_SIZE),
      coreHk(this),
      auxHk(this) {}

--- a/mission/devices/P60DockHandler.h
+++ b/mission/devices/P60DockHandler.h
@ -21,7 +21,8 @@ class P60DockHandler : public GomspaceDeviceHandler {
  //! [EXPORT] : [COMMENT] Battery mode has changed. P1: Old mode. P2: New mode
  static constexpr Event BATT_MODE_CHANGED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);

-  P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+                 FailureIsolationBase* customFdir);
  virtual ~P60DockHandler();

  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
--- a/mission/devices/PDU1Handler.cpp
+++ b/mission/devices/PDU1Handler.cpp
@ -5,8 +5,9 @@

 #include "devices/powerSwitcherList.h"

-PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
+PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+                         FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, PDU::MAX_CONFIGTABLE_ADDRESS,
                            PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
      coreHk(this),
      auxHk(this) {}
--- a/mission/devices/PDU1Handler.h
+++ b/mission/devices/PDU1Handler.h
@ -21,7 +21,8 @@
 */
 class PDU1Handler : public GomspaceDeviceHandler {
 public:
-  PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+              FailureIsolationBase* customFdir);
  virtual ~PDU1Handler();

  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
--- a/mission/devices/PDU2Handler.cpp
+++ b/mission/devices/PDU2Handler.cpp
@ -5,8 +5,9 @@

 #include "devices/powerSwitcherList.h"

-PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
+PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+                         FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, PDU::MAX_CONFIGTABLE_ADDRESS,
                            PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
      coreHk(this),
      auxHk(this) {}
--- a/mission/devices/PDU2Handler.h
+++ b/mission/devices/PDU2Handler.h
@ -21,7 +21,8 @@
 */
 class PDU2Handler : public GomspaceDeviceHandler {
 public:
-  PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+              FailureIsolationBase* customFdir);
  virtual ~PDU2Handler();

  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
--- a/mission/system/fdir/CMakeLists.txt
+++ b/mission/system/fdir/CMakeLists.txt
@ -3,4 +3,5 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
    RtdFdir.cpp
    SusFdir.cpp
    SyrlinksFdir.cpp
+    GomspacePowerFdir.cpp
 )
--- a/mission/system/fdir/GomspacePowerFdir.cpp
+++ b/mission/system/fdir/GomspacePowerFdir.cpp
@ -0,0 +1,128 @@
+#include "GomspacePowerFdir.h"
+
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/health/HealthTableIF.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/power/Fuse.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/thermal/ThermalComponentIF.h"
+#include "mission/devices/devicedefinitions/powerDefinitions.h"
+
+GomspacePowerFdir::GomspacePowerFdir(object_id_t devId, object_id_t parentId)
+    : DeviceHandlerFailureIsolation(devId, parentId) {}
+
+ReturnValue_t GomspacePowerFdir::eventReceived(EventMessage* event) {
+  if (isFdirInActionOrAreWeFaulty(event)) {
+    return RETURN_OK;
+  }
+  ReturnValue_t result = RETURN_FAILED;
+  switch (event->getEvent()) {
+    case HasModesIF::MODE_TRANSITION_FAILED:
+    case HasModesIF::OBJECT_IN_INVALID_MODE:
+    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
+      // We'll try a recovery as long as defined in MAX_REBOOT.
+      // Might cause some AssemblyBase cycles, so keep number low.
+      // handleRecovery(event->getEvent());
+      triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+    case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_UNREQUESTED_REPLY:
+    case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY:  // Some DH's generate generic reply-ids.
+    case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
+      // These faults all mean that there were stupid replies from a device.
+      if (strangeReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+      // The two above should never be confirmed.
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      result = sendConfirmationRequest(event);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        break;
+      }
+      // else
+      if (missedReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case StorageManagerIF::GET_DATA_FAILED:
+    case StorageManagerIF::STORE_DATA_FAILED:
+      // Rather strange bugs, occur in RAW mode only. Ignore.
+      break;
+    case DeviceHandlerIF::INVALID_DEVICE_COMMAND:
+      // Ignore, is bad configuration. We can't do anything in flight.
+      break;
+    case HasHealthIF::HEALTH_INFO:
+    case HasModesIF::MODE_INFO:
+    case HasModesIF::CHANGING_MODE:
+      // Do nothing, but mark as handled.
+      break;
+      //****Power*****
+    case PowerSwitchIF::SWITCH_WENT_OFF:
+      if (powerConfirmation != MessageQueueIF::NO_QUEUE) {
+        result = sendConfirmationRequest(event, powerConfirmation);
+        if (result == RETURN_OK) {
+          setFdirState(DEVICE_MIGHT_BE_OFF);
+        }
+      }
+      break;
+    case Fuse::FUSE_WENT_OFF:
+      // Not so good, because PCDU reacted.
+    case Fuse::POWER_ABOVE_HIGH_LIMIT:
+      // Better, because software detected over-current.
+      setFaulty(event->getEvent());
+      break;
+    case Fuse::POWER_BELOW_LOW_LIMIT:
+      // Device might got stuck during boot, retry.
+      // handleRecovery(event->getEvent());
+      triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+      //****Thermal*****
+    case ThermalComponentIF::COMPONENT_TEMP_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_HIGH:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH:
+      // Well, the device is not really faulty, but it is required to stay off as long as possible.
+      setFaulty(event->getEvent());
+      break;
+    case ThermalComponentIF::TEMP_NOT_IN_OP_RANGE:
+      // Ignore, is information only.
+      break;
+      //*******Default monitoring variables. Are currently not used.*****
+      //    case DeviceHandlerIF::MONITORING_LIMIT_EXCEEDED:
+      //        setFaulty(event->getEvent());
+      //        break;
+      //    case DeviceHandlerIF::MONITORING_AMBIGUOUS:
+      //        break;
+    default:
+      // We don't know the event, someone else should handle it.
+      return RETURN_FAILED;
+  }
+  return RETURN_OK;
+}
+
+void GomspacePowerFdir::eventConfirmed(EventMessage* event) {
+  switch (event->getEvent()) {
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      if (missedReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case PowerSwitchIF::SWITCH_WENT_OFF:
+      // This means the switch went off only for one device.
+      // handleRecovery(event->getEvent());
+      triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+    default:
+      break;
+  }
+}
--- a/mission/system/fdir/GomspacePowerFdir.h
+++ b/mission/system/fdir/GomspacePowerFdir.h
@ -0,0 +1,15 @@
+#ifndef MISSION_SYSTEM_FDIR_GOMSPACEPOWERFDIR_H_
+#define MISSION_SYSTEM_FDIR_GOMSPACEPOWERFDIR_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
+
+class GomspacePowerFdir : public DeviceHandlerFailureIsolation {
+ public:
+  GomspacePowerFdir(object_id_t devId, object_id_t parentId = objects::NO_OBJECT);
+
+ private:
+  ReturnValue_t eventReceived(EventMessage* event) override;
+  void eventConfirmed(EventMessage* event) override;
+};
+
+#endif /* MISSION_SYSTEM_FDIR_GOMSPACEPOWERFDIR_H_ */